Prepare MM Data Topcon IP-S3

This page describes the Topcon IP-S3 resources to be imported into Orbit using the according Orbit Import Template.
It is recommended to read first Concepts of Mobile Mapping and UAS data in Orbit.

Trajectory

Trajectory Positions File

File format : one asccii *.csv file
File structure Rows : each timestamp is one record
File structure Columns : comma separated (char44), headers, with exact order as the example below
Value “GPS_time(s)” : GPS absolute time, seconds from January 6 1980, decimal notation
Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

Geographic CRS

file_type,timestamp,GPS_time(s),lat(deg),lon(deg),alt,north_velocity,east_velocity,down_velocity,quaternion0,quaternion1,quaternion2,quaternion3,rms_north,rms_east,rms_down,rms_north_velocity,rms_east_velocity,rms_down_velocity,rms_quaternion0,rms_quaternion1,rms_quaternion2,rms_quaternion3
62009,301155812469,1235291623.46004963,24.7950273887847814,46.7023712874421832,650.495740556158125,-4.31696891784667969,-9.23910140991210938,-0.060107056051492691,0.533462492562260304,0.031300436481401156,-0.00145295596136938224,-0.845243125156489139,0.00175160095744613721,0.00400987382608577938,0.00241928379555644054,-0.000613710226349695881,0.000918576002399458177,0.00133029929900739291,0.49723534656813545,0.340980522102993011,-0.769310844743692712,0.211305744903876908
62009,301156812476,1235291623.47004962,24.7950269992728529,46.7023703735601217,650.496437233872712,-4.31336498260498047,-9.24416446685791016,-0.0760835930705070496,0.533472066705619863,0.0312556502817029833,-0.00122906864700710397,-0.845239095026113607,0.00175180531702218037,0.00400998976862904262,0.00241944178649818173,-0.000613761945349575308,0.000918607174516340177,0.00133036185937872959,0.497235344570108428,0.34098048938901071,-0.769310850236686772,0.211305782396939618
62009,301157812484,1235291623.48004985,24.7950266099372172,46.7023694593452845,650.497288335114717,-4.31314897537231445,-9.24593353271484375,-0.0912690386176109314,0.53347638889726734,0.0310943338141728524,-0.00104898179212297403,-0.845242559583333164,0.00175193802987146357,0.00401006070846417293,0.00241954290183477722,-0.000613794885535539833,0.000918627041134176671,0.00133040297231651881,0.497235338662303183,0.340980451772503634,-0.769310862096040493,0.211305813823119387
...

Projected CRS

file_type,timestamp,GPS_time(s),east,north,altitude,north_velocity,east_velocity,down_velocity,quaternion0,quaternion1,quaternion2,quaternion3,rms_north,rms_east,rms_down,rms_north_velocity,rms_east_velocity,rms_down_velocity,rms_quaternion0,rms_quaternion1,rms_quaternion2,rms_quaternion3
62009,301155812469,1235291623.46004963,672086.218225998222,2743324.07807551883,650.495740556158125,-4.31696891784667969,-9.23910140991210938,-0.060107056051492691,0.533462492562260304,0.031300436481401156,-0.00145295596136938224,-0.845243125156489139,0.00175160095744613721,0.00400987382608577938,0.00241928379555644054,-0.000613710226349695881,0.000918576002399458177,0.00133029929900739291,0.49723534656813545,0.340980522102993011,-0.769310844743692712,0.211305744903876908
62009,301156812476,1235291623.47004962,672086.126365119126,2743324.03378250496,650.496437233872712,-4.31336498260498047,-9.24416446685791016,-0.0760835930705070496,0.533472066705619863,0.0312556502817029833,-0.00122906864700710397,-0.845239095026113607,0.00175180531702218037,0.00400998976862904262,0.00241944178649818173,-0.000613761945349575308,0.000918607174516340177,0.00133036185937872959,0.497235344570108428,0.34098048938901071,-0.769310850236686772,0.211305782396939618
62009,301157812484,1235291623.48004985,672086.03447035118,2743323.98950859765,650.497288335114717,-4.31314897537231445,-9.24593353271484375,-0.0912690386176109314,0.53347638889726734,0.0310943338141728524,-0.00104898179212297403,-0.845242559583333164,0.00175193802987146357,0.00401006070846417293,0.00241954290183477722,-0.000613794885535539833,0.000918627041134176671,0.00133040297231651881,0.497235338662303183,0.340980451772503634,-0.769310862096040493,0.211305813823119387
...

Panoramas

Image files

Image type : Ladybug 5, equirectangular panoramas
Image resolution : Ratio 2×1, advised 8000×4000 pixels
File format : Each image is one *.jpg file
File name : Exactly as “file_name” value of image positions file, see below
Folder structure : all files in one folder

Image positions file

File format : One asccii *.csv file
File structure Rows : Each image is one record
File structure Columns : Comma separated (char44), headers, with exact order as the example below
Value “file_name” : Entire file path using forward slashes, including file extension
Value of Coordinates : any supported coordinate system can be used, Long/Lat order for geographical coordinates, decimal notation, without thousands separator.

Geographic CRS

file_name,file_type,sequence_id,timestamp,GPS_time(s),lat(deg),lon(deg),alt,attitude(x)=roll,attitude(y)=pitch,attitude(z)=pan,frame_id
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000589.jpg,JPG,589,301190407364,1235291623.8059988,24.7950136761249524,46.7023397883139211,650.771077588200569,178.140714551015265,-2.83112008979011431,64.5519381189249941,13000
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000590.jpg,JPG,590,301241807547,1235291624.32000089,24.7949936331821057,46.7022927598421731,650.816853065043688,178.4293728413422,-2.47168590249554754,64.5794903993071614,13001
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000591.jpg,JPG,591,301293372156,1235291624.83564711,24.7949738929730472,46.7022456983916854,650.843878802843392,178.156024102904041,-2.5589182236776864,64.6182554799878801,13002
...

Projected CRS

file_name,file_type,sequence_id,timestamp,GPS_time(s),east,north,altitude,attitude(x)=roll,attitude(y)=pitch,attitude(z)=pan,frame_id
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000589.jpg,JPG,589,301190407364,1235291623.8059988,672083.052417527651,2743322.51960173948,650.771077588200569,178.140714551015265,-2.83112008979011431,64.5519381189249941,13000
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000590.jpg,JPG,590,301241807547,1235291624.32000089,672078.325242928113,2743320.24043363007,650.816853065043688,178.4293728413422,-2.47168590249554754,64.5794903993071614,13001
C:/Users/2019-02-27_11-25-55/ladybug_panoramic_000591.jpg,JPG,591,301293372156,1235291624.83564711,672073.59431462537,2743317.99475569883,650.843878802843392,178.156024102904041,-2.5589182236776864,64.6182554799878801,13002
...

Point Cloud

LiDAR files

File format : One or more *.las or *.laz files.
File structure : Las version 1.2.
Value of Latitude, Longitude, Elevation : Same CRS as Trajectory.
Value of Timestamp : Same reference as Trajectory.